Simple question:
Is there a way to print reminders in Outlook?

Outlook doesn't offer a predefined way to do this but you can create a custom view which will show the reminder times and print it. It's not perfect, but short of doing a screen print of the reminder window (which only gets you the current reminders), it works. As with anything recurring, this only works as expected for the first occurrence, but it works as expected for individual appointments. Oh, and it won't show the new reminder time on snoozed reminders.

Create a custom table view and add the Remind Beforehand field to the view.

This field displays the minutes before the event starts. You can create a custom field to convert the minutes in Remind Beforehand to a date and time.

The short version for those familiar with creating custom fields: create a custom field of the formula type and use the following formula:

DateAdd("n",-[Remind Beforehand],[Start])

The step-by-step version for those unfamiliar with creating custom fields is at
Creating a Custom Field for the Reminder Time